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<div class="title">DesiredStateCommand.h</div>  </div>
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<a href="../../d8/dfc/_desired_state_command_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*========================= Gamepad Control ==========================*/</span></div><div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="preprocessor">#ifndef DESIRED_STATE_COMMAND_H</span></div><div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="preprocessor">#define DESIRED_STATE_COMMAND_H</span></div><div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;</div><div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="../../d8/d87/_state_estimator_container_8h.html">Controllers/StateEstimatorContainer.h</a>&gt;</span></div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="../../d9/d8e/cpp_types_8h.html">cppTypes.h</a>&gt;</span></div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="preprocessor">#include &lt;iostream&gt;</span></div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="../../d7/d24/_gamepad_command_8h.html">SimUtilities/GamepadCommand.h</a>&quot;</span></div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;</div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;</div><div class="line"><a name="l00017"></a><span class="lineno"><a class="line" href="../../d5/dc1/struct_desired_state_data.html">   17</a></span>&#160;<span class="keyword">struct </span><a class="code" href="../../d5/dc1/struct_desired_state_data.html">DesiredStateData</a> {</div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;  EIGEN_MAKE_ALIGNED_OPERATOR_NEW</div><div class="line"><a name="l00019"></a><span class="lineno"><a class="line" href="../../d5/dc1/struct_desired_state_data.html#a214d566bb9904bc8a513aa41dfa81918">   19</a></span>&#160;  <a class="code" href="../../d5/dc1/struct_desired_state_data.html#a214d566bb9904bc8a513aa41dfa81918">DesiredStateData</a>() { <a class="code" href="../../d5/dc1/struct_desired_state_data.html#afd2e9af1d119c8c516e0b75e6ee09199">zero</a>(); }</div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;</div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;  <span class="comment">// Zero out all of the data</span></div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;  <span class="keywordtype">void</span> <a class="code" href="../../d5/dc1/struct_desired_state_data.html#afd2e9af1d119c8c516e0b75e6ee09199">zero</a>();</div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;</div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;  <span class="comment">// Instantaneous desired state command</span></div><div class="line"><a name="l00025"></a><span class="lineno"><a class="line" href="../../d5/dc1/struct_desired_state_data.html#a0adea950b2f19d8374a6f2d3ba6bc0d7">   25</a></span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a87f228860242acc66da2e58086d18cec">Vec12&lt;T&gt;</a> <a class="code" href="../../d5/dc1/struct_desired_state_data.html#a0adea950b2f19d8374a6f2d3ba6bc0d7">stateDes</a>;</div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;</div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;  <span class="comment">// Desired future state trajectory (for up to 10 timestep MPC)</span></div><div class="line"><a name="l00028"></a><span class="lineno"><a class="line" href="../../d5/dc1/struct_desired_state_data.html#aa7098c921d0fd9b0f844b36e2118b34b">   28</a></span>&#160;  Eigen::Matrix&lt;T, 12, 10&gt; <a class="code" href="../../d5/dc1/struct_desired_state_data.html#aa7098c921d0fd9b0f844b36e2118b34b">stateTrajDes</a>;</div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;};</div><div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;</div><div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;</div><div class="line"><a name="l00035"></a><span class="lineno"><a class="line" href="../../d0/d27/class_desired_state_command.html">   35</a></span>&#160;<span class="keyword">class </span><a class="code" href="../../d0/d27/class_desired_state_command.html">DesiredStateCommand</a> {</div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160; <span class="keyword">public</span>:</div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;  EIGEN_MAKE_ALIGNED_OPERATOR_NEW</div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;  <span class="comment">// Initialize with the GamepadCommand struct</span></div><div class="line"><a name="l00039"></a><span class="lineno"><a class="line" href="../../d0/d27/class_desired_state_command.html#a3ea9a3f81723a56696bdaa4e88f425c8">   39</a></span>&#160;  <a class="code" href="../../d0/d27/class_desired_state_command.html#a3ea9a3f81723a56696bdaa4e88f425c8">DesiredStateCommand</a>(<a class="code" href="../../d4/d51/struct_gamepad_command.html">GamepadCommand</a>* command, <a class="code" href="../../dd/df3/struct_state_estimate.html">StateEstimate&lt;T&gt;</a>* sEstimate) {</div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;    gamepadCommand = command;</div><div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;    stateEstimate = sEstimate;</div><div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;  }</div><div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;</div><div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;  <span class="keywordtype">void</span> convertToStateCommands();</div><div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;  <span class="keywordtype">void</span> desiredStateTrajectory(<span class="keywordtype">int</span> N, <a class="code" href="../../d9/d8e/cpp_types_8h.html#a5b5c9415b99af20473201414cb37ad43">Vec10&lt;T&gt;</a> dtVec);</div><div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;  <span class="keywordtype">void</span> printRawInfo();</div><div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;  <span class="keywordtype">void</span> printStateCommandInfo();</div><div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;  <span class="keywordtype">float</span> <a class="code" href="../../de/df0/utilities_8h.html#a2ecabd546948cea7bb3c432258a1b2ac">deadband</a>(<span class="keywordtype">float</span> command, T minVal, T maxVal);</div><div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;</div><div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;  <span class="comment">// These should come from the inferface</span></div><div class="line"><a name="l00051"></a><span class="lineno"><a class="line" href="../../d0/d27/class_desired_state_command.html#a58d51f22a49d07f5d38380616cd14ca5">   51</a></span>&#160;  T maxRoll = 0.4;</div><div class="line"><a name="l00052"></a><span class="lineno"><a class="line" href="../../d0/d27/class_desired_state_command.html#ad5c4f4e1513e251e0f7bc967414e0f95">   52</a></span>&#160;  T minRoll = -0.4;</div><div class="line"><a name="l00053"></a><span class="lineno"><a class="line" href="../../d0/d27/class_desired_state_command.html#abc7fc5af6086faf943814811f79952b6">   53</a></span>&#160;  T maxPitch = 0.4;</div><div class="line"><a name="l00054"></a><span class="lineno"><a class="line" href="../../d0/d27/class_desired_state_command.html#ad6baddbaa6e215aaf0fdd140a93888a4">   54</a></span>&#160;  T minPitch = -0.4;</div><div class="line"><a name="l00055"></a><span class="lineno"><a class="line" href="../../d0/d27/class_desired_state_command.html#ae7f01b642104cc17b867ce5ce32d68f1">   55</a></span>&#160;  T maxVelX = 1.0;</div><div class="line"><a name="l00056"></a><span class="lineno"><a class="line" href="../../d0/d27/class_desired_state_command.html#acc3d620efe84bdb89718c473900ad78f">   56</a></span>&#160;  T minVelX = -1.0;</div><div class="line"><a name="l00057"></a><span class="lineno"><a class="line" href="../../d0/d27/class_desired_state_command.html#adfb288ee51b6a22407bd7412eef62c4e">   57</a></span>&#160;  T maxVelY = 0.5;</div><div class="line"><a name="l00058"></a><span class="lineno"><a class="line" href="../../d0/d27/class_desired_state_command.html#a4176c19231d9340a7daaae24e9ba8576">   58</a></span>&#160;  T minVelY = -0.5;</div><div class="line"><a name="l00059"></a><span class="lineno"><a class="line" href="../../d0/d27/class_desired_state_command.html#a66580586a0ed2e479b81567b6668f9ae">   59</a></span>&#160;  T maxTurnRate = 2.0;</div><div class="line"><a name="l00060"></a><span class="lineno"><a class="line" href="../../d0/d27/class_desired_state_command.html#acf76f4e0e5c67a57e0fdc57ddd4b2c7a">   60</a></span>&#160;  T minTurnRate = -2.0;</div><div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;</div><div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;  <span class="comment">// Holds the instantaneous desired state and future desired state trajectory</span></div><div class="line"><a name="l00063"></a><span class="lineno"><a class="line" href="../../d0/d27/class_desired_state_command.html#ab84f76cee9c1be472e8636e6ab6dd641">   63</a></span>&#160;  <a class="code" href="../../d5/dc1/struct_desired_state_data.html">DesiredStateData&lt;T&gt;</a> <a class="code" href="../../d0/d27/class_desired_state_command.html#ab84f76cee9c1be472e8636e6ab6dd641">data</a>;</div><div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;</div><div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160; <span class="keyword">private</span>:</div><div class="line"><a name="l00066"></a><span class="lineno"><a class="line" href="../../d0/d27/class_desired_state_command.html#a383e229df8f997fadf2926d0b4c82c2d">   66</a></span>&#160;  <a class="code" href="../../d4/d51/struct_gamepad_command.html">GamepadCommand</a>* <a class="code" href="../../d0/d27/class_desired_state_command.html#a383e229df8f997fadf2926d0b4c82c2d">gamepadCommand</a>;</div><div class="line"><a name="l00067"></a><span class="lineno"><a class="line" href="../../d0/d27/class_desired_state_command.html#a686222aa0264a52767f5f0573a8ca6c4">   67</a></span>&#160;  <a class="code" href="../../dd/df3/struct_state_estimate.html">StateEstimate&lt;T&gt;</a>* <a class="code" href="../../d0/d27/class_desired_state_command.html#a686222aa0264a52767f5f0573a8ca6c4">stateEstimate</a>;</div><div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;</div><div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;  <span class="comment">// Dynamics matrix for discrete time approximation</span></div><div class="line"><a name="l00070"></a><span class="lineno"><a class="line" href="../../d0/d27/class_desired_state_command.html#ac71570711c6f38bb2a9ca3632ad3b7d9">   70</a></span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#ada3d7962220cc81b232609a200370584">Mat12&lt;T&gt;</a> <a class="code" href="../../d0/d27/class_desired_state_command.html#ac71570711c6f38bb2a9ca3632ad3b7d9">A</a>;</div><div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;</div><div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;  <span class="comment">// Control loop timestep change</span></div><div class="line"><a name="l00073"></a><span class="lineno"><a class="line" href="../../d0/d27/class_desired_state_command.html#a7668e65c5bfee9cc46f54df0e69fb796">   73</a></span>&#160;  T dt = 0.001;</div><div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;</div><div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;  <span class="comment">// Value cutoff for the analog stick deadband</span></div><div class="line"><a name="l00076"></a><span class="lineno"><a class="line" href="../../d0/d27/class_desired_state_command.html#a97406250b1bbfccafa92f4ed4324b0b0">   76</a></span>&#160;  T deadbandRegion = 0.075;</div><div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;</div><div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;  <span class="comment">// Choose how often to print info, every N iterations</span></div><div class="line"><a name="l00079"></a><span class="lineno"><a class="line" href="../../d0/d27/class_desired_state_command.html#ac1689cf7de804f97e08e432a48a3ddb3">   79</a></span>&#160;  <span class="keywordtype">int</span> printNum = 5;  <span class="comment">// N*(0.001s) in simulation time</span></div><div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;</div><div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;  <span class="comment">// Track the number of iterations since last info print</span></div><div class="line"><a name="l00082"></a><span class="lineno"><a class="line" href="../../d0/d27/class_desired_state_command.html#ad31167847630c534b780e1f426c10bc0">   82</a></span>&#160;  <span class="keywordtype">int</span> printIter = 0;</div><div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;};</div><div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;</div><div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;<span class="preprocessor">#endif</span></div><div class="ttc" id="cpp_types_8h_html_ada3d7962220cc81b232609a200370584"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#ada3d7962220cc81b232609a200370584">Mat12</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, 12, 12 &gt; Mat12</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00074">cppTypes.h:74</a></div></div>
<div class="ttc" id="cpp_types_8h_html"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html">cppTypes.h</a></div></div>
<div class="ttc" id="struct_desired_state_data_html"><div class="ttname"><a href="../../d5/dc1/struct_desired_state_data.html">DesiredStateData</a></div><div class="ttdef"><b>Definition:</b> <a href="../../d8/dfc/_desired_state_command_8h_source.html#l00017">DesiredStateCommand.h:17</a></div></div>
<div class="ttc" id="struct_gamepad_command_html"><div class="ttname"><a href="../../d4/d51/struct_gamepad_command.html">GamepadCommand</a></div><div class="ttdef"><b>Definition:</b> <a href="../../d7/d24/_gamepad_command_8h_source.html#l00012">GamepadCommand.h:12</a></div></div>
<div class="ttc" id="struct_desired_state_data_html_a214d566bb9904bc8a513aa41dfa81918"><div class="ttname"><a href="../../d5/dc1/struct_desired_state_data.html#a214d566bb9904bc8a513aa41dfa81918">DesiredStateData::DesiredStateData</a></div><div class="ttdeci">EIGEN_MAKE_ALIGNED_OPERATOR_NEW DesiredStateData()</div><div class="ttdef"><b>Definition:</b> <a href="../../d8/dfc/_desired_state_command_8h_source.html#l00019">DesiredStateCommand.h:19</a></div></div>
<div class="ttc" id="struct_desired_state_data_html_aa7098c921d0fd9b0f844b36e2118b34b"><div class="ttname"><a href="../../d5/dc1/struct_desired_state_data.html#aa7098c921d0fd9b0f844b36e2118b34b">DesiredStateData::stateTrajDes</a></div><div class="ttdeci">Eigen::Matrix&lt; T, 12, 10 &gt; stateTrajDes</div><div class="ttdef"><b>Definition:</b> <a href="../../d8/dfc/_desired_state_command_8h_source.html#l00028">DesiredStateCommand.h:28</a></div></div>
<div class="ttc" id="utilities_8h_html_a2ecabd546948cea7bb3c432258a1b2ac"><div class="ttname"><a href="../../de/df0/utilities_8h.html#a2ecabd546948cea7bb3c432258a1b2ac">deadband</a></div><div class="ttdeci">T deadband(T x, T range)</div><div class="ttdef"><b>Definition:</b> <a href="../../de/df0/utilities_8h_source.html#l00046">utilities.h:46</a></div></div>
<div class="ttc" id="class_desired_state_command_html_a383e229df8f997fadf2926d0b4c82c2d"><div class="ttname"><a href="../../d0/d27/class_desired_state_command.html#a383e229df8f997fadf2926d0b4c82c2d">DesiredStateCommand::gamepadCommand</a></div><div class="ttdeci">GamepadCommand * gamepadCommand</div><div class="ttdef"><b>Definition:</b> <a href="../../d8/dfc/_desired_state_command_8h_source.html#l00066">DesiredStateCommand.h:66</a></div></div>
<div class="ttc" id="cpp_types_8h_html_a5b5c9415b99af20473201414cb37ad43"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#a5b5c9415b99af20473201414cb37ad43">Vec10</a></div><div class="ttdeci">Eigen::Matrix&lt; T, 10, 1 &gt; Vec10</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00038">cppTypes.h:38</a></div></div>
<div class="ttc" id="class_desired_state_command_html_a3ea9a3f81723a56696bdaa4e88f425c8"><div class="ttname"><a href="../../d0/d27/class_desired_state_command.html#a3ea9a3f81723a56696bdaa4e88f425c8">DesiredStateCommand::DesiredStateCommand</a></div><div class="ttdeci">EIGEN_MAKE_ALIGNED_OPERATOR_NEW DesiredStateCommand(GamepadCommand *command, StateEstimate&lt; T &gt; *sEstimate)</div><div class="ttdef"><b>Definition:</b> <a href="../../d8/dfc/_desired_state_command_8h_source.html#l00039">DesiredStateCommand.h:39</a></div></div>
<div class="ttc" id="cpp_types_8h_html_a87f228860242acc66da2e58086d18cec"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#a87f228860242acc66da2e58086d18cec">Vec12</a></div><div class="ttdeci">Eigen::Matrix&lt; T, 12, 1 &gt; Vec12</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00042">cppTypes.h:42</a></div></div>
<div class="ttc" id="struct_desired_state_data_html_afd2e9af1d119c8c516e0b75e6ee09199"><div class="ttname"><a href="../../d5/dc1/struct_desired_state_data.html#afd2e9af1d119c8c516e0b75e6ee09199">DesiredStateData::zero</a></div><div class="ttdeci">void zero()</div><div class="ttdef"><b>Definition:</b> <a href="../../d3/d4e/_desired_state_command_8cpp_source.html#l00013">DesiredStateCommand.cpp:13</a></div></div>
<div class="ttc" id="struct_desired_state_data_html_a0adea950b2f19d8374a6f2d3ba6bc0d7"><div class="ttname"><a href="../../d5/dc1/struct_desired_state_data.html#a0adea950b2f19d8374a6f2d3ba6bc0d7">DesiredStateData::stateDes</a></div><div class="ttdeci">Vec12&lt; T &gt; stateDes</div><div class="ttdef"><b>Definition:</b> <a href="../../d8/dfc/_desired_state_command_8h_source.html#l00025">DesiredStateCommand.h:25</a></div></div>
<div class="ttc" id="class_desired_state_command_html_a686222aa0264a52767f5f0573a8ca6c4"><div class="ttname"><a href="../../d0/d27/class_desired_state_command.html#a686222aa0264a52767f5f0573a8ca6c4">DesiredStateCommand::stateEstimate</a></div><div class="ttdeci">StateEstimate&lt; T &gt; * stateEstimate</div><div class="ttdef"><b>Definition:</b> <a href="../../d8/dfc/_desired_state_command_8h_source.html#l00067">DesiredStateCommand.h:67</a></div></div>
<div class="ttc" id="_gamepad_command_8h_html"><div class="ttname"><a href="../../d7/d24/_gamepad_command_8h.html">GamepadCommand.h</a></div><div class="ttdoc">The GamepadCommand type containing joystick information. </div></div>
<div class="ttc" id="_state_estimator_container_8h_html"><div class="ttname"><a href="../../d8/d87/_state_estimator_container_8h.html">StateEstimatorContainer.h</a></div></div>
<div class="ttc" id="class_desired_state_command_html_ab84f76cee9c1be472e8636e6ab6dd641"><div class="ttname"><a href="../../d0/d27/class_desired_state_command.html#ab84f76cee9c1be472e8636e6ab6dd641">DesiredStateCommand::data</a></div><div class="ttdeci">DesiredStateData&lt; T &gt; data</div><div class="ttdef"><b>Definition:</b> <a href="../../d8/dfc/_desired_state_command_8h_source.html#l00063">DesiredStateCommand.h:63</a></div></div>
<div class="ttc" id="struct_state_estimate_html"><div class="ttname"><a href="../../dd/df3/struct_state_estimate.html">StateEstimate</a></div><div class="ttdef"><b>Definition:</b> <a href="../../d8/d87/_state_estimator_container_8h_source.html#l00023">StateEstimatorContainer.h:23</a></div></div>
<div class="ttc" id="class_desired_state_command_html"><div class="ttname"><a href="../../d0/d27/class_desired_state_command.html">DesiredStateCommand</a></div><div class="ttdef"><b>Definition:</b> <a href="../../d8/dfc/_desired_state_command_8h_source.html#l00035">DesiredStateCommand.h:35</a></div></div>
<div class="ttc" id="class_desired_state_command_html_ac71570711c6f38bb2a9ca3632ad3b7d9"><div class="ttname"><a href="../../d0/d27/class_desired_state_command.html#ac71570711c6f38bb2a9ca3632ad3b7d9">DesiredStateCommand::A</a></div><div class="ttdeci">Mat12&lt; T &gt; A</div><div class="ttdef"><b>Definition:</b> <a href="../../d8/dfc/_desired_state_command_8h_source.html#l00070">DesiredStateCommand.h:70</a></div></div>
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